^ i went on a great boat tour of pittsburgh a couple years ago.
it wasn't quite as heavy on the architecture spiel as some of the chicago ones, but it was a very pleasant 1-hour cruise around the rivers of pittsburgh (with some local history and lore) affording spectacular views of the skyline, bridges, and bluffs.
and they served beer, so i highly recommend it!
here's a link to the pittsburgh boat tour i took:
https://www.gatewayclipper.com/
i've also done the circle line tour in NYC, which is like a 3 hour cruise that completely circumnavigates manhattan. super cool, but it is long. fortunately, that's not a problem for us skyscraper nerds who can never get enough of the mighty NYC!
for as often as i've been there, i've oddly never done a milwaukee river/lake cruise, but that's because i've kayaked up there enough to know what the experience would be like.